Figure 5.
The path comparison for task M 1 plots 5 routes from the start near X 11 metres and Y 15 metres to target gate 8 B near X 131 metres and Y 54 metres. Dijkstra has T 20.6 and Exp 22.94. A star has T 21.3 and Exp 28.19. R R T star has T 23.83 and Exp 7.31. D star Lite has T 17.4 and Exp 2.35. Proposed has T 16.1 and Exp 0.75. The routes take different paths around obstacles and the central congestion region before approaching the target and nearby elevator.Path comparison of different methods for task M1